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chore: update changelog

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Sébastien Crozet
2024-05-26 18:26:56 +02:00
committed by Sébastien Crozet
parent 02cade0440
commit a8739036c0
1 changed files with 20 additions and 0 deletions
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CHANGELOG.md
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@@ -1,5 +1,11 @@
## Unreleased ## Unreleased
This release introduces two new crates:
- `rapier-urdf` for loading URDF files into rapier3d. This will load the rigid-bodies,
colliders, and joints.
- `rapier-stl` for loading an STL file as a collision shape.
### Added ### Added
- Add `Multibody::inverse_kinematics`, `Multibody::inverse_kinematics_delta`, - Add `Multibody::inverse_kinematics`, `Multibody::inverse_kinematics_delta`,
@@ -12,9 +18,17 @@
single link without mutating the multibody. This can take an optional displacement on generalized coordinates that are single link without mutating the multibody. This can take an optional displacement on generalized coordinates that are
taken into account during transform propagation. taken into account during transform propagation.
- Implement `Debug` for `ColliderBuilder`. - Implement `Debug` for `ColliderBuilder`.
- Add `Collider::converted_trimesh` and `MeshConverter` for building a collider with a shape computed from a mesh’s
index and vertex buffers. That computed shape can currently be a `TriMesh`, a `Cuboid` (covering the mesh’s AABB or
OBB), a convex hull, or a convex decomposition.
- Implement `Default` for `RigidBodyBuilder`. This is equivalent to `RigidBodyBuilder::dynamic()`.
- Implement `Default` for `ColliderBuilder`. This is equivalent to `ColliderBuilder::ball(0.5)`.
### Modified ### Modified
- Renamed `JointAxesMask::X/Y/Z` to `::LIN_X/LIN_Y/LIN_Z`; and renamed `JointAxisMask::X/Y/Z` to `::LinX/LinY/LynZ` to
make it clear it is not to be used as angular axes (the angular axis are `JointAxesMask::ANG_X/ANG_Y/AngZ` and
`JointAxisMask::AngX/AngY/AngZ`).
- The contact constraints regularization parameters have been changed from `erp/damping_ratio` to - The contact constraints regularization parameters have been changed from `erp/damping_ratio` to
`natural_frequency/damping_ratio`. This helps define them in a timestep-length independent way. The new variables `natural_frequency/damping_ratio`. This helps define them in a timestep-length independent way. The new variables
are named `IntegrationParameters::contact_natural_frequency` and `IntegrationParameters::contact_damping_ratio`. are named `IntegrationParameters::contact_natural_frequency` and `IntegrationParameters::contact_damping_ratio`.
@@ -30,6 +44,12 @@
to propagate it to the multibody). to propagate it to the multibody).
- Remove an internal special-case for contact constraints on fast contacts. The doesn’t seem necessary with the substep - Remove an internal special-case for contact constraints on fast contacts. The doesn’t seem necessary with the substep
solver. solver.
- Remove `RigidBody::add_collider`. This was an implementation detail previously needed by `bevy_rapier`. To attach
a collider to a rigid-body, use `ColliderSet::insert_with_parent` or `ColliderSet::set_parent`.
- Rename `JointAxis::X/Y/Z` to `::LinX/LinY/LinZ` to avoid confusing it with `::AngX/AngY/AngZ`.
- Rename `JointAxesMask::X/Y/Z` to `::LIN_X/LIN_Y/LIN_Z` to avoid confusing it with `::ANG_X/ANG_Y/ANG_Z`.
- The function `RigidBody::add_collider` is now private. It was only public because it was needed for some internal
`bevy_rapier` plumbings, but it is no longer useful. Adding a collider must always go througthe `ColliderSet`.
## v0.19.0 (05 May 2024) ## v0.19.0 (05 May 2024)